Board: ESP32 30 Pin
Issue: The code execution is very slow, the data is printed at random time in serial monitor. I haven't connected anything with the esp. I also tested this code with 4-5 different esp and still the same issue occurs.
I ran the same code on an RP2040-Zero board from Waveshare and it ran perfectly, no such delays.
Images:
ESP32 (See the time difference between zeroes)
RP2040
Code:
#include <DFRobot_BME680_I2C.h>
#include <Wire.h>
#include <TinyGPS++.h>
#include <RTClib.h>
#include <math.h>
#include <SimpleKalmanFilter.h>
#include <Adafruit_BNO055.h>
#include <utility/imumaths.h>
#include <uEEPROMLib.h>
#include <Adafruit_VL53L0X.h>
#define S1_RXD 12
#define S1_TXD 14
#define S2_RXD 27
#define S2_TXD 26
const byte M2 = 18, M1 = 19, MQ1 = 2, MQ2 = 4, VS = 25; //, servo1Pin = 5, servo2Pin = 17;
//Servo servo1,servo2;
byte a, sensor_status[4] = { 1, 1, 1, 1 }, leg_status[6] = { 0, 0, 0, 0, 0, 0 };
bool count = 0, motor = 0, arm_up = 0, arm_down = 0;
long unsigned int time1000 = 0, packetcount = 0;
unsigned int hour, minute, tof;
float voltage_cs, ReferencePressure, b, altitude, volt = 0.0, pressure, kalman_pres, percent;
typedef struct struct_message {
int a;
float roll;
float pitch;
float yaw;
} struct_message;
struct_message myData;
//esp_now_peer_info_t peerInfo;
sensors_event_t orientationData;
SimpleKalmanFilter pressureKalmanFilter(1, 1, 1);
DFRobot_BME680_I2C bme(0x77); //0x77 I2C address
Adafruit_VL53L0X lox = Adafruit_VL53L0X();
Adafruit_BNO055 bno = Adafruit_BNO055(55, 0x28);
RTC_DS3231 rtc;
TinyGPSPlus gps;
uEEPROMLib eeprom(0x50);
void setup() {
Serial.begin(115200);
Serial1.begin(230400);
Serial2.begin(9600);
delay(100);
pinMode(M1, OUTPUT);
pinMode(M2, OUTPUT);
digitalWrite(M1, LOW);
digitalWrite(M2, LOW);
/* Wire.begin();
WiFi.mode(WIFI_STA);*/
if (!rtc.begin())
sensor_status[0] = 0;
//Serial.println("RTC Error");
if (!bno.begin()) //Initialize IMU sensor
sensor_status[1] = 0;
//Serial.println("IMU Error");
if (bme.begin()) //Initialize Pressure sensor
sensor_status[2] = 0;
//Serial.println("Pressure Sensor Error");
if (!lox.begin())
sensor_status[3] = 0;
//Serial.println("Distance Sensor Error");
lox.startRangeContinuous();
if (rtc.lostPower())
rtc.adjust(DateTime(F(__DATE__), F(__TIME__)));
for (int i = 0; i < 50; i++) {
bme.startConvert();
bme.update();
b += bme.readPressure();
Serial.println(b);
delay(100);
}
ReferencePressure = b / 50;
b = 0;
}
void loop() {
bno.getEvent(&orientationData, Adafruit_BNO055::VECTOR_EULER);
myData.roll = orientationData.orientation.y;
myData.pitch = orientationData.orientation.z;
myData.yaw = orientationData.orientation.x;
a = Serial1.read(); // Serial.read(); Send 1-12 nos.
if (a > 0) {
myData.a = a;
motor = 0;
arm_up = 0;
arm_down = 0;
}
motion();
if (millis() - time1000 >=1000) {
time1000+=1000;
if (lox.isRangeComplete())
tof = lox.readRange() - 8;
smartDelay(0);
bme.startConvert();
bme.update();
DateTime now = rtc.now();
kalman_pres = pressureKalmanFilter.updateEstimate(bme.readPressure());
altitude = 44330 * (1 - pow(kalman_pres / ReferencePressure, 0.1903));
volt = (analogRead(VS) * 3.30) / (0.2 * 4095.0) + 0.66;
percent = (voltage_cs/12.6)*100;
hour = gps.time.hour() + 5;
minute = gps.time.minute() + 30;
if (minute > 59) {
minute = minute - 60;
hour++;
}
if (hour > 23)
hour = hour - 24;
String tele= String("Team_xyz") + ',' + String(now.hour()) + ':' + String(now.minute()) + ':' + String(now.second()) + ',' +
String(packetcount) + ',' + String(altitude,2) + ',' + String(kalman_pres) + ',' + String(bme.readTemperature()/100, 2)
+ ',' + String(bme.readHumidity()/1000, 2) + ',' + String(bme.readGasResistance())+ ',' + String(analogRead(MQ1)) + ','
+ String(analogRead(MQ2)) + ',' + String(volt,2) + ',' + String("0") +',' + String(tof) + ',' + String(myData.roll) + ','
+ String(myData.pitch) + ',' + String(myData.yaw) + ',' + String(hour) + ':' + String(minute) + ':' + String(gps.time.second()) + ',' +
String(gps.location.lat(), 4) + ',' + String(gps.location.lng(), 4) + ',' + String(gps.altitude.meters(), 1) + ','
+ String(gps.satellites.value()) + ',' + String(percent,0);
Serial2.println(tele);
Serial1.println(tele);
Serial.println(tele);
Serial.println(myData.a);
packetcount++;
}
}
void motion() {
switch (myData.a) {
case 57: //Wheel_down
if (motor == 0) {
delay(2000);
digitalWrite(M1, HIGH);
digitalWrite(M2, HIGH);
motor = 1;
}
break;
case 58: //Wheel_up
digitalWrite(M1, LOW);
digitalWrite(M2, LOW);
break;
case 59:
if (arm_down == 0) {
ARM_DOWN();
arm_down = 1;
}
break;
case 60:
if (arm_up == 0) {
ARM_UP();
arm_up = 1;
}
break;
default:
break;
}
}
void ARM_UP() {
}
void ARM_DOWN() {
}
static void smartDelay(unsigned long ms) {
unsigned long start = millis();
do {
while (Serial2.available())
gps.encode(Serial2.read());
} while (millis() - start < ms);
}